Control method, device, somatosensory remote controller, control system and storage medium

Abstract

The embodiment of the application provides a control method, which is applied to a body sense remote controller, a vibrator is arranged in the body sense remote controller, the body sense remote controller is used for controlling a flying device, and the method comprises the following steps: acquiring a posture of the body sense remote controller; and when the posture of the body sense remote controller enters a target posture range, controlling the vibrator to vibrate. The method provided by the embodiment of the application can solve the technical problem that a user cannot know whether the body sense remote controller enters the target posture range.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicles, and in particular to a control method, a control device, a motion remote controller, a control system, and a computer readable storage medium. BACKGROUND

[0002] Aircraft are usually controlled by remote controllers, including traditional joystick remote controllers and new motion remote controllers. A joystick remote controller includes one or more joysticks, and a user can input control instructions for an aircraft by manipulating the joystick to control the aircraft. For a motion remote controller, a user can hold the motion remote controller and change the attitude of the motion remote controller to control the aircraft. SUMMARY

[0003] Embodiments of the present application provide a control method, a control device, a motion remote controller, a control system, and a computer readable storage medium, one of the purposes of which is to solve the technical problem that a user cannot explicitly know whether a motion remote controller enters a target attitude range.

[0004] A first aspect of embodiments of the present application provides a control method applied to a motion remote controller, the motion remote controller being provided with a vibrator, and the motion remote controller being used to control an aircraft, the method comprising:

[0005] obtaining an attitude of the motion remote controller;

[0006] controlling the vibration motor vibrator to vibrate when the attitude of the motion remote controller enters a target attitude range.

[0007] A second aspect of embodiments of the present application provides a control device, comprising a processor and a memory storing a computer program, the processor realizing any control method provided by embodiments of the present application when executing the computer program.

[0008] A third aspect of embodiments of the present application provides a motion remote controller used to control an aircraft, the motion remote controller comprising:

[0009] an attitude sensor configured to collect an attitude of the motion remote controller;

[0010] a communication module configured to establish communication with the aircraft and / or a display device;

[0011] a vibrator configured to generate vibration feedback;

[0012] a processor and a memory storing a computer program, the processor realizing the following steps when executing the computer program:

[0013] obtaining the attitude of the motion remote controller by the attitude sensor;

[0014] vibrate the vibrator in the somatosensory remote controller when the posture of the somatosensory remote controller enters a target posture range.

[0015] The fourth aspect of the embodiments of the present application provides a control system, comprising: an aircraft and a somatosensory remote controller used for controlling the aircraft.

[0016] The somatosensory remote controller is used for: acquiring a posture of the somatosensory remote controller, and vibrating a vibrator in the somatosensory remote controller when the posture of the somatosensory remote controller enters a target posture range.

[0017] The aircraft is used for: performing a corresponding action according to a posture change of the somatosensory remote controller and / or a control instruction sent by the somatosensory remote controller.

[0018] The fifth aspect of the embodiments of the present application provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement any one of the control methods provided by the embodiments of the present application.

[0019] The control method provided by the embodiments of the present application, the somatosensory remote controller is provided with a vibrator, when the posture of the somatosensory remote controller enters a target posture range, the vibrator can be controlled to vibrate, so that the user can clearly know that the somatosensory remote controller has entered the target posture range according to the vibration felt, and clearly know that the fuselage of the aircraft at this time has no inclination or the gimbal on the aircraft has been returned to the center. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0021] Figure 1 is a reference posture schematic diagram of the somatosensory remote controller provided by the embodiments of the present application.

[0022] Figure 2 is an internal structure diagram of the somatosensory remote controller provided by the embodiments of the present application.

[0023] Figure 3 is a flowchart of the control method provided by the embodiments of the present application.

[0024] Figure 4 is a use scenario diagram of the somatosensory remote controller provided by the embodiments of the present application.

[0025] Figure 5 is a display interface of the flight glasses provided by the embodiments of the present application.

[0026] Figure 6 This is a schematic diagram of the control device provided in the embodiments of this application.

[0027] Figure 7 This is a schematic diagram of the structure of the motion-sensing remote control provided in the embodiments of this application.

[0028] Figure 8 This is a schematic diagram of the control system provided in the embodiments of this application. Detailed Implementation

[0029] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0030] Aircraft are typically controlled via remote controllers, which include traditional joystick remote controllers and newer motion-sensing remote controllers. Joystick remote controllers include one or more joysticks, allowing users to input control commands and thus control the aircraft. Motion-sensing remote controllers, on the other hand, allow users to hold the controller and control the aircraft by changing its orientation.

[0031] For joystick remote controllers, each joystick is equipped with a spring. When a joystick deviates from its initial neutral position, the spring will provide feedback to restore the joystick to the neutral position. Therefore, as long as the user releases the joystick, the joystick will automatically return to the neutral position under the action of the spring. This allows for convenient operation such as hovering the aircraft, keeping the aircraft tilt-free, or returning the aircraft gimbal to its normal position.

[0032] The motion-sensing remote control also possesses a reference posture similar to the neutral point position, which can also be referred to as the posture zero position. In one example, this reference posture can be the posture of the motion-sensing remote control when it is not tilted, as shown in the reference... Figure 1 , Figure 1 The motion-sensing remote control remains horizontal, without tilting in either the pitch or roll direction; this posture can serve as the reference posture for the motion-sensing remote control.

[0033] For a user, it is often needed to make the body sense remote controller reach the reference posture. For example, in an application, the posture of the body sense remote controller can be coupled with the posture of an aircraft, that is, the aircraft can follow the posture change of the body sense remote controller, at this time, the body sense remote controller is controlled to the reference posture, and the body of the aircraft can be kept without tilting. When the body of the aircraft is kept without tilting, the aircraft can keep its position on the horizontal plane unchanged and will not move due to body tilting. For another example, in an application, the posture of the body sense remote controller can be coupled with the posture of a gimbal carried on the aircraft, that is, the gimbal can follow the posture change of the body sense remote controller, for example, when the user controls the body sense remote controller to look up or look down, the gimbal of the aircraft can also look up or look down. At this time, the body sense remote controller is controlled to the reference posture, and the gimbal on the aircraft can be returned to the center, that is, the posture of the gimbal relative to the aircraft can be restored to zero, for example, facing the front of the aircraft.

[0034] However, the body sense remote controller does not have the design that the rocker remote controller can be restored to the neutral point position by releasing the rocker, so when the user needs the body sense remote controller to reach the reference posture, the user can only adjust the body sense remote controller to a posture approximately without tilting according to the feeling, and cannot know whether the body sense remote controller is truly in the reference posture, and the control feeling is poor.

[0035] Therefore, an embodiment of the present application provides a control method, which can be applied to a body sense remote controller. For a further understanding of technical solutions, refer to Figure 2 , Figure 2 is an internal structure diagram of the body sense remote controller provided by an embodiment of the present application. The body sense remote controller can be provided with a vibrator 210, which can be connected with a circuit board 220. Here, the vibrator is a motor capable of vibrating, and in an example, the vibrator can be a transverse linear motor, and of course, other vibrators such as a longitudinal linear motor, a rotor motor, etc. can also be used.

[0036] The body sense remote controller can be provided with multiple vibrators, and different vibrators can be distributed at different positions of the body sense remote controller, which can be designed according to actual needs.

[0037] The body sense remote controller can be used to control an aircraft, and here, the aircraft can be a physical aircraft or a virtual aircraft in software. Since the aircraft control has a certain threshold, the user can perform simulation practice of the aircraft control in a flight simulation software before formally operating the aircraft, at this time, the body sense remote controller can be connected with a display device running the flight simulation software, and the body sense remote controller can be used to control the aircraft in the flight simulation software.

[0038] For a further understanding of technical solutions, refer to Figure 3 , Figure 3is a flowchart of a control method provided by an embodiment of the present application, and the method comprises the following steps:

[0039] S302, an attitude of the somatosensory remote controller is acquired.

[0040] S304, when the attitude of the somatosensory remote controller enters a target attitude range, a vibrator is controlled to vibrate.

[0041] The somatosensory remote controller can be provided with an attitude sensor, and thus the attitude of the somatosensory remote controller can be acquired by the attitude sensor. In an embodiment, the attitude sensor can comprise an inertial measurement unit (IMU), the angular velocity of the somatosensory remote controller can be measured by a gyroscope in the IMU, and the attitude change of the somatosensory remote controller can be calculated by the measured angular velocity, so that the real-time attitude of the somatosensory remote controller can be calculated.

[0042] The somatosensory remote controller can be in any attitude when held by the user, and when the attitude of the somatosensory remote controller enters a target attitude range, a vibrator in the somatosensory remote controller can be controlled to vibrate. Here, the target attitude range can at least comprise a reference attitude, and can be an attitude range containing the reference attitude, for example, an attitude range centered on the reference attitude. In an example, if the reference attitude corresponds to an attitude with a pitch angle pitch = 0 and a roll angle roll = 0, the target attitude range can be, for example, an attitude range with pitch ∈ [-1, +1] and roll ∈ [-1, +1].

[0043] As mentioned above, the reference attitude can be the attitude of the somatosensory remote controller without inclination, and without inclination means keeping horizontal. If the previous example is continued, for an attitude, as long as the pitch angle and the roll angle of the attitude satisfy the condition of pitch ∈ [-1, +1] and roll ∈ [-1, +1], regardless of the yaw angle of the attitude, the attitude falls into the target attitude range.

[0044] It is mentioned above that the somatosensory remote controller has two control modes, the first of which is that the flight vehicle follows the attitude change of the somatosensory remote controller, and the second of which is that the gimbal of the flight vehicle follows the attitude change of the somatosensory remote controller. For the first control mode, when the attitude of the somatosensory remote controller enters the target attitude range, since the attitude of the somatosensory remote controller is close to the reference attitude at this time, i.e., the somatosensory remote controller has no inclination, the body of the flight vehicle following the somatosensory remote controller also has no inclination, so that the user can clearly know that the flight vehicle has been in an attitude with no inclination of the body according to the vibration emitted by the vibrator, without having to be distracted to judge. For the second control mode, when the attitude of the somatosensory remote controller enters the target attitude range, the gimbal of the flight vehicle following the somatosensory remote controller can be in a return center attitude, so that the user can clearly know that the gimbal of the flight vehicle has currently returned to the center according to the vibration emitted by the vibrator.

[0045] The above-mentioned no tilt of the fuselage of the aircraft means that in a windless environment, the fuselage of the aircraft has no tilt relative to the horizontal plane, more specifically, the fuselage of the aircraft can keep horizontal in the pitch direction and the roll direction, so that the aircraft can keep its position on the horizontal plane unchanged. It can be understood that in a windless environment, if the fuselage of the aircraft has tilt in the pitch direction, the aircraft will not be able to keep in the original position and will move in the front-back direction, and if the fuselage of the aircraft has tilt in the roll direction, the aircraft will move in the left-right direction and also cannot keep in the original position. In a windy environment, if the fuselage of the aircraft still keeps horizontal, the aircraft will be displaced under the action of the wind, that is, cannot keep in the original position. For this case, in order to keep the position of the aircraft unchanged, a certain tilt of the fuselage of the aircraft can be controlled to offset the influence of the wind. That is to say, in a windy environment, the fuselage of the aircraft has no tilt relative to a certain plane, and the certain plane forms a certain angle with the horizontal plane to offset the influence of the wind. It should be understood that the no tilt of the fuselage of the aircraft described herein should be understood differently for different environments.

[0046] It should also be noted that the no tilt of the fuselage of the aircraft means that the position of the aircraft on the horizontal plane / certain plane can be kept unchanged, but does not mean that the position of the aircraft in space is kept unchanged. In one case, if the user increases or decreases the throttle by pulling the trigger on the body remote controller when the fuselage of the aircraft has no tilt, the aircraft can vertically ascend or descend, and at this time the fuselage of the aircraft still keeps horizontal, that is, there is no tilt. In addition, in some embodiments, the rotation of the aircraft in the yaw direction also belongs to the case of no tilt of the fuselage of the aircraft, at this time, although the orientation of the aircraft has changed, the position of the aircraft on the horizontal plane / certain plane is still unchanged.

[0047] It should be noted that the no tilt described in the embodiments of the present application does not mean absolute no tilt, as long as the fuselage of the aircraft or the body remote controller is substantially no tilt or close to no tilt, and the position on the horizontal plane / certain plane can be substantially unchanged, which belongs to the no tilt described in the embodiments of the present application.

[0048] The control method provided in the embodiments of the present application is provided with a vibrator in the body remote controller, when the attitude of the body remote controller enters the target attitude range, the vibrator can be controlled to vibrate, so that the user can clearly know that the body remote controller has entered the target attitude range according to the vibration felt, and clearly know that the fuselage of the aircraft at this time has no tilt or the gimbal on the aircraft has returned to the center.

[0049] When the user is manipulating the motion remote controller, the user does not have an accurate judgment on the attitude difference between the current attitude of the motion remote controller and the reference attitude, but only makes a vague measurement according to the changes in the picture captured by the aircraft and the hand feeling, and the control feeling is poor. In an embodiment, the user can be prompted about the attitude difference between the current attitude of the motion remote controller and the reference attitude by providing vibration through the vibrator, so that the user can more accurately manipulate the aircraft or the gimbal carried on the aircraft. Specifically, a threshold of the attitude can be preconfigured, and when the attitude difference between the attitude of the motion remote controller and the reference attitude is greater than the preconfigured threshold, the vibrator can be controlled to vibrate, so that the user can know how much the current motion remote controller deviates from the reference attitude according to the vibration felt.

[0050] In an embodiment, a plurality of different thresholds can also be preconfigured, and when the attitude difference between the attitude of the motion remote controller and the reference attitude exceeds any one of the thresholds, the vibrator can feedback vibration, but the vibration effect provided by the vibrator can be different according to the exceeded threshold. For example, in an example, the greater the threshold exceeded by the attitude difference, the higher the intensity of the vibration feedback by the vibrator, so that the user can have a more accurate judgment on the degree of inclination of the motion remote controller at this time according to the feedback vibration when manipulating the motion remote controller.

[0051] For the user, it is of great significance to accurately know the attitude difference between the attitude of the motion remote controller and the reference attitude. For example, in the mode in which the aircraft follows the attitude change of the motion remote controller, the attitude of the motion remote controller is coupled with the attitude of the aircraft, so that the attitude difference between the attitude of the motion remote controller and the reference attitude not only reflects the degree of inclination of the motion remote controller, but also reflects the degree of inclination of the aircraft body, which is closely related to the motion trajectory and flight speed of the aircraft. In this case, if the user has a more accurate judgment on the attitude difference, the manipulation accuracy of the user on the aircraft can be greatly improved.

[0052] In an embodiment, the vibration information of the aircraft can be obtained, and the vibrator in the motion remote controller can be controlled to vibrate according to the vibration information to simulate the vibration of the aircraft. By simulating the vibration of the aircraft through the vibrator, the user can perceive the vibration condition of the aircraft, which is beneficial to the user to grasp the working state of the aircraft (for example, whether there is an abnormality), and on the other hand, can bring the user an immersive feeling of manipulating the operation lever in the aircraft cabin, and improve the manipulation experience of the user.

[0053] For the vibration information of the aircraft, the aircraft can transmit the vibration information to the somatosensory remote controller through the video transmission technology. Here, the vibration information can be measured by an inertial measurement unit on the aircraft. In one example, the vibration information can at least include acceleration information of the aircraft, and can further include frequency of vibration, amplitude of vibration, and other information.

[0054] In one embodiment, the wind force of the environment in which the aircraft is located can also be reflected by the vibration of the somatosensory remote controller. Specifically, when the posture of the somatosensory remote controller is within the target posture range, the vibration information of the aircraft can be obtained, and the deviation of the vibration information from the pre-calibrated basic vibration information can be calculated, and the vibrator can be controlled to vibrate according to the deviation. Here, the pre-calibrated basic vibration information is the vibration information corresponding to the aircraft in a windless environment, i.e., the vibration is only caused by the working of the devices of the aircraft (such as the vibration caused by the rotation of the rotor), without the influence of wind force. Therefore, the deviation or difference between the calculated vibration information and the basic vibration information can simply reflect the wind force of the current environment, so that the user can have a relatively accurate perception of the wind force borne by the aircraft according to the vibration of the vibrator.

[0055] The somatosensory remote controller can have multiple usage modes. In one mode, the somatosensory remote controller can be connected only with the aircraft. At this time, the user can observe the movement of the aircraft through the human eye, and use the somatosensory remote controller in the hand to control the aircraft. In one mode, the somatosensory remote controller can be connected only with the display device. The display device can run flight simulation software, so that the user can control the virtual aircraft in the flight simulation software through the somatosensory remote controller to perform simulation practice of aircraft control. In one mode, the somatosensory remote controller, the display device, and the aircraft can be connected. Here, reference can be made to Figure 4 , Figure 4 The display device can be flight glasses. The picture taken by the aircraft can be transmitted to the flight glasses through the video transmission system, and the flight glasses can display the picture taken by the aircraft. The aircraft can also obtain the posture change of the somatosensory remote controller or the control instruction sent by the somatosensory remote controller, so as to perform corresponding actions according to the posture change or the control instruction.

[0056] When the posture of the somatosensory remote controller enters the target posture range, in addition to controlling the vibrator to vibrate, other feedback can also be provided to give the user a better control feeling. In one embodiment, the display device can obtain the posture of the somatosensory remote controller, determine the corresponding flight direction according to the posture of the somatosensory remote controller, and mark the flight direction in the picture through a specified pattern. Reference can be made to Figure 5 , Figure 5The picture can be a picture displayed by the flight glasses, and the circle pattern in the picture is used to identify the current flight direction. When the posture of the motion remote controller changes, the flight direction also changes accordingly, and the circle pattern in the picture can move accordingly to indicate the changed flight direction. When the posture of the motion remote controller enters the target posture range, the display device can display an animation effect that the specified pattern is attracted to the center of the display interface, and the animation effect can be combined with the vibration provided by the vibrator to provide clearer feedback to the user.

[0057] In an embodiment, when the posture of the motion remote controller enters the target posture range, the display device can play a specified sound effect in addition to the animation effect described above. The sound effect can be, for example, the sound of the ball hitting the magnet after being attracted to the magnet.

[0058] In an embodiment, the vibration provided by the vibrator when the posture of the motion remote controller enters the target posture range can be crisp, so as to be more consistent with the animation effect of the ball being attracted to the magnet and form a more natural feedback. The crispness is a feeling, and in terms of vibration parameters, the crispness can be a short duration of the vibration and a low intensity of the vibration.

[0059] In an embodiment, the user's operation can also be guided by the vibration of the motion remote controller. As described above, the display device can obtain the picture taken by the aircraft, and therefore in an embodiment, the display device can perform AI recognition on the picture taken by the aircraft, determine the recommended posture of the motion remote controller in the scene, and send the recommended posture to the motion remote controller. After obtaining the recommended posture, the motion remote controller can control the vibrator to vibrate according to the posture difference between the current posture of the motion remote controller and the recommended posture. For example, when the posture difference between the current posture of the motion remote controller and the recommended posture increases, the vibrator can be controlled to vibrate, and the intensity of the vibration can be positively correlated with the posture difference, that is, the greater the deviation between the current posture of the motion remote controller and the recommended posture, the more intense the vibration provided by the vibrator, so as to prompt the user that the current operation is different from the recommended operation, and maintaining the current operation can be dangerous to the aircraft.

[0060] For example, the display device can identify the obstacles according to the pictures taken by the aerial vehicle, and identify the positions of the obstacles and the flight state information of the aerial vehicle. Here, the positions of the obstacles can be, for example, in front of and left of the aerial vehicle, and the flight state information of the aerial vehicle can be, for example, the current flight direction and flight speed of the aerial vehicle. Then, the display device can calculate the recommended posture of the somatic remote controller in combination with the positions of the obstacles and the flight state information of the aerial vehicle. In the above example, since there are obstacles in front of and left of the aerial vehicle, the display device can determine that the aerial vehicle should turn right to avoid the obstacles, and can calculate the recommended posture of the somatic remote controller, which can be, for example, a posture in which the somatic remote controller is tilted to the right. The display device can transmit the recommended posture to the somatic remote controller, so that the somatic remote controller can vibrate the vibrator to guide the user according to the recommended posture.

[0061] The vibrator in the somatic remote controller can vibrate to prompt the user in other events besides the event in which the posture of the somatic remote controller enters the target posture range. In an embodiment, the flight state information of the aerial vehicle can be acquired, and when the flight state information indicates that the aerial vehicle enters a homing state or is currently homing, the vibrator can be controlled to vibrate. In an embodiment, after the flight state information of the aerial vehicle is acquired, if the flight state information indicates that the aerial vehicle enters a braking state or is currently braking, the vibrator can be controlled to vibrate. In an embodiment, when the flight gear of the aerial vehicle is switched under the control of the user, the vibrator can be controlled to vibrate to prompt the user that the flight gear of the aerial vehicle is switched successfully.

[0062] It is to be noted that the vibrator can provide different vibration effects according to different events triggering the vibration. Here, the vibration effects can at least include any one of the following aspects: duration of vibration, frequency of vibration, intensity of vibration, number of vibration, rhythm of vibration. In a specific implementation, in one embodiment, the vibration parameters corresponding to each event triggering the vibration can be set in advance, and the correspondence between the events and the vibration parameters can be stored in the body remote controller in advance. When it is determined that a certain event triggering the vibration occurs, the vibration parameters corresponding to the current event can be determined according to the pre-stored correspondence, and the vibrator can be controlled to vibrate according to the vibration parameters to provide the vibration effect corresponding to the vibration parameters. For example, when the event that the posture of the body remote controller enters the target posture range occurs, the vibrator can provide crisp vibration, when it is determined that the aircraft is returning, the vibrator can provide two short vibrations in succession, and when it is determined that the aircraft enters the brake state, the vibrator can provide a strong vibration. When the flight gear of the aircraft is switched, different vibrations can be provided according to the different gears after the switching, for example, if the flight gear is switched to enter the P gear mode (GPS mode), the vibrator can be controlled to vibrate once, if the flight gear is switched to enter the S gear mode (sports mode), the vibrator can be controlled to vibrate twice, and if the flight gear is switched to enter the M gear mode (manual mode), the vibrator can be controlled to vibrate three times.

[0063] In one embodiment, when the posture of the body remote controller changes from the target posture range to outside the target posture range, the vibrator can also be controlled to vibrate. In this way, the user no longer needs to spend too much effort to maintain the body remote controller in the target posture range, and only needs to follow the vibration prompt feedback by the vibrator, and the control experience is greatly improved.

[0064] The control method provided by the embodiments of the present application is provided. The body remote controller is provided with a vibrator. When the posture of the body remote controller enters the target posture range, the vibrator can be controlled to vibrate, so that the user can clearly know that the body remote controller has entered the target posture range according to the vibration felt, and clearly know that the fuselage of the aircraft at this time has no inclination or the gimbal on the aircraft has returned to the center.

[0065] Please refer to Figure 6 , Figure 6 is a structural schematic diagram of the control device provided by the embodiments of the present application. The device can be applied to a body remote controller which can be used to control an aircraft, and the body remote controller is provided with a vibrator. The device comprises a processor 610 and a memory 620 storing a computer program. The processor realizes the following method when executing the computer program.

[0066] obtaining the posture of the body remote controller;

[0067] vibrate the vibrator when the posture of the somatosensory remote controller enters a target posture range.

[0068] The control device provided in the embodiments of the present application can also implement any one of the control methods provided in the embodiments of the present application, and specific reference can be made to the related content in the foregoing, which will not be described herein again.

[0069] The control device provided in the embodiments of the present application can control the vibrator to vibrate when the posture of the somatosensory remote controller enters a target posture range, so that the user can clearly know that the somatosensory remote controller has entered the target posture range according to the vibration felt, and clearly know that the fuselage of the aircraft or the gimbal carried on the aircraft has returned to the center at this time.

[0070] The embodiments of the present application also provide a somatosensory remote controller, which can be referred to Figure 7 , Figure 7 is a structural schematic diagram of a somatosensory remote controller provided in the embodiments of the present application, which is used for controlling an aircraft, and can include the following components:

[0071] a posture sensor 710, configured to collect a posture of the somatosensory remote controller;

[0072] a communication module 720, configured to establish communication with an aircraft and / or a display device;

[0073] a vibrator 730, configured to generate vibration feedback;

[0074] a processor 740 and a memory 750 storing a computer program, wherein the processor implements the following steps when executing the computer program:

[0075] acquiring the posture of the somatosensory remote controller through the posture sensor;

[0076] vibrate the vibrator when the posture of the somatosensory remote controller enters a target posture range.

[0077] Optionally, when the posture of the somatosensory remote controller enters a target posture range, the fuselage of the aircraft is not inclined.

[0078] Optionally, when the posture of the somatosensory remote controller enters a target posture range, a gimbal carried on the aircraft is in a return-to-center posture.

[0079] Optionally, the posture of the somatosensory remote controller is coupled with the posture of the aircraft, and the aircraft can follow the change of the posture of the somatosensory remote controller.

[0080] Optionally, the posture of the somatosensory remote controller is coupled with the posture of the gimbal carried on the aircraft, and the gimbal can follow the change of the posture of the somatosensory remote controller.

[0081] Optionally, the target attitude range includes at least a reference attitude, the reference attitude being an attitude of the somatosensory remote controller without inclination.

[0082] Optionally, the processor is further configured to:

[0083] vibrate the vibrator when the attitude difference between the attitude of the somatosensory remote controller and the reference attitude is greater than a preconfigured threshold.

[0084] Optionally, a plurality of different thresholds are preconfigured, and the greater the threshold that the attitude difference exceeds, the greater the intensity of the vibration feedback by the vibrator.

[0085] Optionally, the processor is further configured to:

[0086] obtain vibration information of the aircraft, and control the vibrator according to the vibration information to simulate the vibration of the aircraft.

[0087] Optionally, the vibration information is measured by an IMU on the aircraft.

[0088] Optionally, the vibration information includes at least acceleration information.

[0089] Optionally, the processor is further configured to:

[0090] when the attitude of the somatosensory remote controller is within the target attitude range, obtain vibration information of the aircraft, and control the vibrator according to a deviation between the vibration information and pre-marked basic vibration information, the basic vibration information being vibration information corresponding to the aircraft in a windless environment.

[0091] Optionally, the processor is further configured to:

[0092] obtain a recommended attitude of the somatosensory remote controller from the display device, and control the vibrator to vibrate when the attitude difference between the attitude of the somatosensory remote controller and the recommended attitude increases.

[0093] Optionally, the recommended attitude is calculated by the display device according to identification of obstacles from a picture taken by the aircraft and flight state information of the aircraft.

[0094] Optionally, the processor is further configured to:

[0095] obtain flight state information of the aircraft, and control the vibrator to vibrate when it is determined according to the flight state information that the aircraft enters a homeward journey state.

[0096] Optionally, the processor is further configured to:

[0097] obtaining flight state information of the aerial vehicle, and controlling the vibrator to vibrate when it is determined according to the flight state information that the aerial vehicle enters a braking state.

[0098] Optionally, the processor is further configured to:

[0099] controlling the vibrator to vibrate when a flight gear of the aerial vehicle is switched.

[0100] Optionally, the vibrator provides different vibration effects in different triggering vibration events.

[0101] Optionally, the different vibration effects at least include different aspects of the following: duration of vibration, frequency of vibration, intensity of vibration, number of vibration, rhythm of vibration.

[0102] Optionally, the vibrator includes a transverse linear motor.

[0103] The various embodiments of the somatosensory remote controller provided above can be implemented with reference to the related content in the foregoing description, which will not be repeated here.

[0104] The somatosensory remote controller provided by the embodiments of the present application is internally provided with a vibrator, when the posture of the somatosensory remote controller enters a target posture range, the vibrator can be controlled to vibrate, so that the user can clearly know that the somatosensory remote controller has entered the target posture range according to the vibration felt, and clearly know that the aerial vehicle body is not inclined or the gimbal on the aerial vehicle is centered at this time.

[0105] The embodiments of the present application also provide a control system, which can be referred to Figure 8 , Figure 8 is a structural schematic diagram of the control system provided by the embodiments of the present application, which can include an aerial vehicle 810 and a somatosensory remote controller 820 for controlling the aerial vehicle;

[0106] The somatosensory remote controller is configured to: obtain a posture of the somatosensory remote controller, and control a vibrator in the somatosensory remote controller to vibrate when the posture of the somatosensory remote controller enters a target posture range.

[0107] The aerial vehicle is configured to: perform corresponding actions according to a posture change of the somatosensory remote controller and / or a control instruction issued by the somatosensory remote controller.

[0108] Optionally, when the posture of the somatosensory remote controller enters the target posture range, the aerial vehicle body is not inclined.

[0109] Optionally, when the posture of the somatosensory remote controller enters the target posture range, a gimbal carried on the aerial vehicle is in a centered posture.

[0110] Optionally, the posture of the somatosensory remote controller is coupled with the posture of the aerial vehicle, and the aerial vehicle can follow the posture change of the somatosensory remote controller.

[0111] Optionally, the posture of the somatosensory remote controller is coupled with the posture of a gimbal mounted on the aerial vehicle, and the gimbal can follow the posture change of the somatosensory remote controller.

[0112] Optionally, the target posture range at least includes a reference posture, and the reference posture is the posture of the somatosensory remote controller without inclination.

[0113] Optionally, the somatosensory remote controller is further configured to:

[0114] When the posture difference between the posture of the somatosensory remote controller and the reference posture is greater than a preconfigured threshold, the vibrator is controlled to vibrate.

[0115] Optionally, a plurality of different thresholds are preconfigured, and the greater the threshold that the posture difference exceeds, the greater the intensity of the vibration feedback by the vibrator.

[0116] Optionally, the somatosensory remote controller is further configured to:

[0117] Vibration information of the aerial vehicle is acquired, and the vibrator is controlled according to the vibration information to simulate the vibration of the aerial vehicle.

[0118] Optionally, the vibration information is measured by an IMU on the aerial vehicle.

[0119] Optionally, the vibration information at least includes acceleration information.

[0120] Optionally, the somatosensory remote controller is further configured to:

[0121] When the posture of the somatosensory remote controller is within the target posture range, vibration information of the aerial vehicle is acquired, and the vibrator is controlled to vibrate according to the deviation of the vibration information from pre-labeled basic vibration information, and the basic vibration information is the vibration information corresponding to the aerial vehicle in a windless environment.

[0122] Optionally, the somatosensory remote controller further comprises a display device connected to the somatosensory remote controller.

[0123] Optionally, the display device is configured to acquire the posture of the somatosensory remote controller, determine the flight direction corresponding to the posture of the somatosensory remote controller, and mark the flight direction in a designated pattern on a display interface; and when the posture of the somatosensory remote controller enters the target posture range, display an animation effect in which the designated pattern is adsorbed to the center of the display interface.

[0124] Optionally, the display device is configured to play a specified sound effect when the posture of the somatosensory remote controller enters the target posture range.

[0125] Optionally, the somatosensory remote controller is further configured to:

[0126] obtain a recommended posture of the somatosensory remote controller from the display device, and control the vibrator to vibrate when a posture difference between the posture of the somatosensory remote controller and the recommended posture increases.

[0127] Optionally, the recommended posture is calculated by the display device according to an obstacle identified from a picture taken by the aerial vehicle and flight state information of the aerial vehicle.

[0128] Optionally, the display device comprises flight glasses.

[0129] Optionally, the somatosensory remote controller is further configured to:

[0130] obtain flight state information of the aerial vehicle, and control the vibrator to vibrate when it is determined according to the flight state information that the aerial vehicle enters a homeward flight state.

[0131] Optionally, the somatosensory remote controller is further configured to:

[0132] obtain flight state information of the aerial vehicle, and control the vibrator to vibrate when it is determined according to the flight state information that the aerial vehicle enters a braking state.

[0133] Optionally, the somatosensory remote controller is further configured to:

[0134] control the vibrator to vibrate when a flight gear of the aerial vehicle is switched.

[0135] Optionally, the vibrator provides different vibration effects in different triggering vibration events.

[0136] Optionally, the different vibration effects at least include different aspects in terms of duration, frequency, intensity, number, and rhythm of vibration.

[0137] Optionally, the vibrator comprises a lateral linear motor.

[0138] The various embodiments of the control system provided above can be implemented in accordance with the related content in the foregoing description, which will not be repeated here.

[0139] The control system provided by the embodiment of the present application is provided with a vibrator in the somatosensory remote controller, and when the posture of the somatosensory remote controller enters the target posture range, the vibrator can be controlled to vibrate, so that the user can clearly know that the somatosensory remote controller has entered the target posture range according to the vibration felt, and clearly know that the fuselage of the aerial vehicle is not inclined or the gimbal on the aerial vehicle is already centered.

[0140] The embodiment of the present application further provides a computer readable storage medium, the computer readable storage medium stores a computer program, and the computer program is executed by a processor to realize any control method provided by the embodiment of the present application.

[0141] The above provides multiple embodiments for each protection subject, and on the basis of no conflict or contradiction, a person skilled in the art can freely combine various embodiments according to actual conditions to form various different technical solutions. However, the present application file is limited in length, and cannot explain all the technical solutions obtained by combination, but it can be understood that these technical solutions not explained are also within the range disclosed by the embodiment of the present application.

[0142] The embodiment of the present application can adopt the form of a computer program product implemented on one or more storage media (including but not limited to disk memory, CD-ROM, optical memory, etc.) containing program codes. The computer usable storage medium includes permanent and non-permanent, removable and non-removable media, and can be realized by any method or technology. Information can be computer readable instructions, data structure, program modules or other data. Examples of computer storage media include but are not limited to: phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette tape, magnetic tape magnetic disk storage or other magnetic storage device or any other non-transmission medium that can be used to store information accessible to a computing device.

[0143] It is to be noted that, in the present document, relational terms such as first and second and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. The terms "comprises", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0144] The above detailed description of the method and device provided by the embodiments of the present application has been introduced in detail, the principle and implementation mode of the present application are described by applying specific examples in the present document, the above embodiment explanation is only for helping to understand the method of the present application and its core idea; meanwhile, for the general technical personnel in the field, according to the idea of the present application, the specific implementation mode and application range will have changes, and the above-mentioned description should not be understood as the limitation of the present application.

Claims

1. A control method characterized by, The method is applied to a somatosensory remote controller, the somatosensory remote controller is provided with a vibrator, the somatosensory remote controller is used for controlling a flying device, and the method comprises the following steps: Obtaining a posture of the somatosensory remote controller; When the posture of the somatosensory remote controller enters a target posture range, controlling the vibrator to vibrate; the target posture range at least comprises a reference posture, and the reference posture is a posture of the somatosensory remote controller without inclination.

2. The method of claim 1, wherein, When the posture of the somatosensory remote controller enters the target posture range, a fuselage of the flying device is without inclination.

3. The method of claim 1, wherein, When the posture of the somatosensory remote controller enters the target posture range, a gimbal carried on the flying device is in a central return posture.

4. The method of claim 1, wherein, The posture of the somatosensory remote controller is coupled with a posture of the flying device, and the flying device can follow a change of the posture of the somatosensory remote controller.

5. The method of claim 1, wherein, The posture of the somatosensory remote controller is coupled with a posture of the gimbal carried on the flying device, and the gimbal can follow a change of the posture of the somatosensory remote controller.

6. The method of claim 1, wherein, The method further comprises the following steps: When a posture difference between the posture of the somatosensory remote controller and the reference posture is greater than a preconfigured threshold value, controlling the vibrator to vibrate.

7. The method of claim 6, wherein, A plurality of different threshold values are preconfigured, and the greater the threshold value that the posture difference exceeds, the greater the intensity of vibration feedback of the vibrator.

8. The method of claim 1, wherein, The method further comprises the following steps: Obtaining vibration information of the flying device, and controlling the vibrator according to the vibration information to simulate vibration of the flying device.

9. The method of claim 8, wherein, The vibration information is measured by an IMU on the flying device.

10. The method of claim 9, wherein, The vibration information at least comprises acceleration information.

11. The method of claim 1, wherein, The method further comprises the following steps: When the posture of the somatosensory remote controller is in the target posture range, obtaining vibration information of the flying device, and controlling the vibrator to vibrate according to a deviation of the vibration information from prelabeled basic vibration information, wherein the basic vibration information is vibration information corresponding to the flying device in a windless environment.

12. The method of claim 1, wherein, The somatosensory remote controller is connected with a display device.

13. The method of claim 12, wherein, The display device is used for obtaining the posture of the somatosensory remote controller, determining a flying direction corresponding to the posture of the somatosensory remote controller, marking the flying direction in a specified pattern on a display interface, and displaying an animation effect in which the specified pattern is adsorbed to a center of the display interface when the posture of the somatosensory remote controller enters the target posture range.

14. The method of claim 12, wherein, The display device is used for playing a specified sound effect when the posture of the somatosensory remote controller enters the target posture range.

15. The method of claim 12, wherein, The method further comprises the following steps: Obtaining a recommended posture of the somatosensory remote controller from the display device, and controlling the vibrator to vibrate when a posture difference between the posture of the somatosensory remote controller and the recommended posture increases.

16. The method of claim 15, wherein, The recommended posture is calculated by the display device according to identification of an obstacle by a picture taken by the flying device and flight state information of the flying device.

17. The method according to any one of claims 12-16, characterized in that, The display device comprises flight glasses.

18. The method of claim 1, wherein, The method further comprises the following steps: Obtaining flight state information of the flying device, and controlling the vibrator to vibrate when it is determined according to the flight state information that the flying device enters a homeward flight state.

19. The method of claim 1, wherein, The method further comprises the following steps: Obtaining flight state information of the aerial vehicle, and controlling the vibrator to vibrate when it is determined according to the flight state information that the aerial vehicle enters a braking state.

20. The method of claim 1, wherein, The method further comprises: Controlling the vibrator to vibrate when a flight gear of the aerial vehicle is switched.

21. The method of any one of claims 1-16 or 18-20, wherein, The vibrator provides different vibration effects in different events of triggering vibration.

22. The method of claim 17, wherein, The vibrator provides different vibration effects in different events of triggering vibration.

23. The method of claim 18, wherein, The different vibration effects at least include any one of the following aspects: duration of vibration, frequency of vibration, intensity of vibration, number of vibration, rhythm of vibration.

24. The method of claim 1, wherein, The vibrator comprises a transverse linear motor.

25. A control device characterized by comprising: Comprise: A processor and a memory storing a computer program, the processor implements the method of any one of claims 1-24 when executing the computer program.

26. A body controlled remote control, characterized by For controlling an aerial vehicle, the somatosensory remote controller comprises: An attitude sensor for collecting an attitude of the somatosensory remote controller; A communication module for establishing communication with the aerial vehicle and / or a display device; A vibrator for generating vibration feedback; A processor and a memory storing a computer program, the processor implements the following steps when executing the computer program: Obtaining the attitude of the somatosensory remote controller through the attitude sensor; Controlling the vibrator to vibrate when the attitude of the somatosensory remote controller enters a target attitude range; the target attitude range at least includes a reference attitude, which is the attitude of the somatosensory remote controller without inclination.

27. The somatosensory remote controller according to claim 26, wherein, When the attitude of the somatosensory remote controller enters the target attitude range, the fuselage of the aerial vehicle is not inclined.

28. The somatosensory remote controller according to claim 26, wherein, When the attitude of the somatosensory remote controller enters the target attitude range, the gimbal carried on the aerial vehicle is in a neutral attitude.

29. The somatosensory remote controller according to claim 26, wherein, The attitude of the somatosensory remote controller is coupled with the attitude of the aerial vehicle, and the aerial vehicle can follow the change of the attitude of the somatosensory remote controller.

30. The somatosensory remote controller according to claim 26, wherein, The attitude of the somatosensory remote controller is coupled with the attitude of the gimbal carried on the aerial vehicle, and the gimbal can follow the change of the attitude of the somatosensory remote controller.

31. The somatosensory remote controller according to claim 26, wherein, The processor is further configured to: Controlling the vibrator to vibrate when the attitude difference between the attitude of the somatosensory remote controller and the reference attitude is greater than a preconfigured threshold.

32. The somatosensory remote controller according to claim 31, wherein, A plurality of different thresholds are preconfigured, and the greater the threshold that the attitude difference exceeds, the greater the intensity of the vibration feedback by the vibrator.

33. The somatosensory remote controller according to claim 26, wherein, The processor is further configured to: Obtaining vibration information of the aerial vehicle, and controlling the vibrator according to the vibration information to simulate the vibration of the aerial vehicle.

34. The somatosensory remote controller according to claim 33, wherein, The vibration information is measured by an IMU on the aerial vehicle.

35. The somatosensory remote controller according to claim 33, wherein, The vibration information at least includes acceleration information.

36. The somatosensory remote controller according to claim 26, wherein, The processor is further configured to: When the attitude of the somatosensory remote controller is within the target attitude range, obtaining vibration information of the aerial vehicle, and controlling the vibrator to vibrate according to the deviation of the vibration information from prelabeled basic vibration information, which is the vibration information corresponding to the aerial vehicle in a windless environment.

37. The somatosensory remote controller of claim 26, wherein, The processor is further configured to: Obtaining a recommended attitude of the somatosensory remote controller from the display device, and controlling the vibrator to vibrate when the attitude difference between the attitude of the somatosensory remote controller and the recommended attitude increases.

38. The somatosensory remote controller according to claim 37, wherein, The recommended posture is obtained by the display device identifying an obstacle according to a picture taken by the aerial vehicle, and calculating the position of the obstacle and flight state information of the aerial vehicle.

39. The somatosensory remote controller of claim 26, wherein, The processor is further configured to: obtain flight state information of the aerial vehicle, and control the vibrator to vibrate when it is determined according to the flight state information that the aerial vehicle enters a homeward flight state.

40. The somatosensory remote controller of claim 26, wherein, The processor is further configured to: obtain flight state information of the aerial vehicle, and control the vibrator to vibrate when it is determined according to the flight state information that the aerial vehicle enters a braking state.

41. The somatic teleoperator of claim 26, wherein, The processor is further configured to: control the vibrator to vibrate when a flight gear of the aerial vehicle is switched.

42. The somatosensory remote controller according to any one of claims 26-41, wherein, The vibrator provides different vibration effects in different triggering vibration events.

43. The somatosensory remote controller of claim 42, wherein, The different vibration effects at least include any one of the following aspects: duration of vibration, frequency of vibration, intensity of vibration, number of vibration, rhythm of vibration.

44. The somatosensory remote controller of claim 26, wherein, The vibrator includes a transverse linear motor.

45. A control system characterized by, The application further includes: an aerial vehicle and a somatosensory remote controller for controlling the aerial vehicle; The somatosensory remote controller is configured to: obtain a posture of the somatosensory remote controller, and control a vibrator in the somatosensory remote controller to vibrate when the posture of the somatosensory remote controller enters a target posture range. The aerial vehicle is configured to: perform corresponding actions according to a change in the posture of the somatosensory remote controller and / or a control instruction sent by the somatosensory remote controller; and the target posture range at least includes a reference posture, which is a posture of the somatosensory remote controller when the somatosensory remote controller is not tilted.

46. The control system of claim 45, wherein, When the posture of the somatosensory remote controller enters the target posture range, a fuselage of the aerial vehicle is not tilted.

47. The control system of claim 45, wherein, When the posture of the somatosensory remote controller enters the target posture range, a gimbal carried on the aerial vehicle is in a neutral posture.

48. The control system of claim 45, wherein, The posture of the somatosensory remote controller is coupled with the posture of the aerial vehicle, and the aerial vehicle can follow a change in the posture of the somatosensory remote controller.

49. The control system of claim 45, wherein, The posture of the somatosensory remote controller is coupled with the posture of the gimbal carried on the aerial vehicle, and the gimbal can follow a change in the posture of the somatosensory remote controller.

50. The control system of claim 45, wherein, The somatosensory remote controller is further configured to: control the vibrator to vibrate when a posture difference between the posture of the somatosensory remote controller and the reference posture is greater than a preconfigured threshold value.

51. The control system of claim 50, wherein, A plurality of different threshold values are preconfigured, and the greater the threshold value that the posture difference exceeds, the greater the intensity of vibration feedback by the vibrator.

52. The control system of claim 45, wherein, The somatosensory remote controller is further configured to: obtain vibration information of the aerial vehicle, and control the vibrator according to the vibration information to simulate vibration of the aerial vehicle.

53. The control system of claim 52, wherein, The vibration information is measured by an IMU on the aerial vehicle.

54. The control system of claim 52, wherein, The vibration information at least includes acceleration information.

55. The control system of claim 45, wherein, The somatosensory remote controller is further configured to: when the posture of the somatosensory remote controller is within the target posture range, obtain vibration information of the aerial vehicle, and control the vibrator according to a deviation between the vibration information and premarked basic vibration information, which is vibration information corresponding to the aerial vehicle in a windless environment.

56. The control system of claim 45, wherein, The application further includes: a display device connected with the somatosensory remote controller.

57. The control system of claim 56, wherein, The display device is configured to: acquire the posture of the somatosensory remote controller, determine a flight direction corresponding to the posture of the somatosensory remote controller, and mark the flight direction in a specified pattern on a display interface; and when the posture of the somatosensory remote controller enters the target posture range, display an animation effect in which the specified pattern is attracted to the center of the display interface.

58. The control system of claim 56, wherein, The display device is configured to: when the posture of the somatosensory remote controller enters the target posture range, play a specified sound effect.

59. The control system of claim 56, wherein, The somatosensory remote controller is further configured to: acquire a recommended posture of the somatosensory remote controller from the display device, and control the vibrator to vibrate when a posture difference between the posture of the somatosensory remote controller and the recommended posture increases.

60. The control system of claim 59, wherein, The recommended posture is calculated by the display device based on identification of obstacles from a picture taken by the aircraft and flight state information of the aircraft.

61. The control system of any of claims 56-60, wherein, The display device comprises flight glasses.

62. The control system of claim 45, wherein, The somatosensory remote controller is further configured to: acquire flight state information of the aircraft, and control the vibrator to vibrate when the aircraft enters a homeward flight state according to the flight state information.

63. The control system of claim 45, wherein, The somatosensory remote controller is further configured to: acquire flight state information of the aircraft, and control the vibrator to vibrate when the aircraft enters a braking state according to the flight state information.

64. The control system of claim 45, wherein, The somatosensory remote controller is further configured to: control the vibrator to vibrate when a flight gear of the aircraft is switched.

65. The control system of any of claims 45-60 or 62-64, wherein, The vibrator provides different vibration effects in different events that trigger vibration.

66. The control system of claim 61, wherein, The vibrator provides different vibration effects in different events that trigger vibration.

67. The control system of claim 65, wherein, The different vibration effects at least include differences in any of the following aspects: duration of vibration, frequency of vibration, intensity of vibration, number of vibrations, rhythm of vibration.

68. The control system of claim 66, wherein, The different vibration effects at least include differences in any of the following aspects: duration of vibration, frequency of vibration, intensity of vibration, number of vibrations, rhythm of vibration.

69. The control system of claim 45, wherein, The vibrator comprises a transverse linear motor.

70. A computer-readable storage medium, comprising: The computer readable storage medium stores a computer program, and the computer program is executed by the processor to implement the method in any of claims 1-24. The computer readable storage medium stores a computer program, and the computer program is executed by the processor to implement the method in any of claims 1-24.

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